Method for acquiring oral implant data and method for generating a restoration

Abstract

The application provides an oral implant data acquisition method and a prosthesis generation method, wherein the oral implant data acquisition method comprises: acquiring oral CBCT data, oral scanning data and dynamic implant navigation information; performing data fusion on the oral CBCT data and the oral scanning data, and obtaining a conversion matrix between the oral CBCT data and the oral scanning data based on a fusion result; acquiring a relative pose of a virtual implant model in the oral CBCT data based on the dynamic implant navigation information; and calculating and obtaining pose information of the virtual implant model in the oral scanning data based on the conversion matrix and the relative pose. The implant upper crown prosthesis is designed and manufactured by using the fusion data obtained above, which contains implant pose information, edentulous area gum height, shape and position, so that the purposes of low cost, fast process and high precision are achieved.

Description

Technical Field

[0001] This invention belongs to the field of oral technology, and in particular relates to a method for acquiring oral implant data and a method for generating prostheses. Background Technology

[0002] In the field of dental implant restoration, the steps are as follows: Figure 1 As shown, the process generally consists of two main steps: implanting the implant and installing the crown. After the implant is inserted into the bone, in order to accurately design the crown, it is necessary to know the accurate positional information of the implant relative to the adjacent crowns and the coronal gingiva, so as to provide a high-precision data model for subsequent implant restoration.

[0003] Existing methods for obtaining implant positioning information relative to adjacent crowns and the coronal gingiva include impression taking. The most common method for obtaining accurate implant positioning information relative to adjacent crowns is the silicone rubber impression method. This involves placing a transfer rod adapted to the implant interface inside the implant, then using silicone rubber material to adhere and wrap the patient's tooth and the transfer rod to create an impression. This method is currently widely used due to its relatively low cost. However, its disadvantages include low digitization, relatively low accuracy, long procedure time, waste of silicone rubber and subsequent plaster materials, and potential damage to the gingiva in the implantation area during the impression taking process, causing patient discomfort.

[0004] Another method is oral scanning, a commonly used digital method in recent years for acquiring accurate positional information of the implant relative to adjacent tooth crowns and the coronal gingiva. This method relies on intraoral or extraoral scanning equipment: First, a scanning rod (transfer rod) adapted to the interface is placed on the implant's internal interface. Then, the extraoral / intraoral scanning equipment is held hand-held, scanning one or more scanning rods sequentially from outside or inside the mouth to obtain the relative positions of the scanning rods, adjacent teeth in the edentulous area, and the gingiva in the edentulous area. Compared to the impression taking method, this method has advantages such as high accuracy, better patient experience, no need for silicone rubber and plaster impression and model pouring materials, and fast data transmission. However, it requires additional equipment support, resulting in a higher overall cost. Summary of the Invention

[0005] In view of the problems existing in the prior art, the present invention provides a method for acquiring oral implant data and a method for generating prostheses, which at least partially solves the problem of not being able to balance accuracy and cost in the prior art.

[0006] In a first aspect, embodiments of this disclosure provide a method for acquiring oral implant data, including:

[0007] Acquire oral CBCT data, intraoral scan data, and dynamic implant navigation information;

[0008] The oral CBCT data and the intraoral scan data are fused, and a transformation matrix between the oral CBCT data and the intraoral scan data is obtained based on the fusion result;

[0009] Based on the dynamic implant navigation information, the relative pose of the virtual implant model in the oral CBCT data is obtained;

[0010] Based on the transformation matrix and relative pose, the pose information of the virtual implant model in the oral scan data is calculated.

[0011] Optionally, obtaining the relative pose of the virtual implant model in the oral CBCT data based on the dynamic implant navigation information includes:

[0012] The dynamic implant navigation system obtains the conversion relationship between the reference plate fixed to the patient's jaw and the navigation system. The dynamic implant navigation system includes a reference plate and an instrument locator.

[0013] Based on the pre-calibrated conversion relationship between the reference plate and the oral CBCT data, and the conversion relationship between the reference plate and the navigation system, the relative positional relationship between the oral CBCT data and the navigation system is obtained;

[0014] Record the relative pose of the instrument locator in the navigation coordinate system in the final state before implantation is completed;

[0015] Obtain the conversion relationship between the instrument locator and the navigation system;

[0016] Based on the pre-calibrated geometric parameters of the implantation instrument drill bit and the instrument locator, as well as the relative pose of the instrument locator in the navigation coordinate system, the end coordinates of the implantation instrument drill bit and the unit axial information of the instrument drill bit in the navigation coordinate system are calculated.

[0017] The coordinates and unit axial information of the implant under the navigation system are calculated based on the length, end coordinates and unit axial information of the implant tip relative to the end of the instrument drill bit.

[0018] The coordinates and axial information of the implant under the navigation system are registered with the corresponding information of the pre-stored 3D model of the implant to obtain the transformation matrix of the implant model under the navigation coordinate system.

[0019] By combining the relative positional relationship between the oral CBCT data and the navigation system, as well as the transformation matrix of the implant model in the navigation coordinate system, the relative pose of the virtual implant model in the oral CBCT data is determined.

[0020] Optionally, the formula for calculating the end coordinates of the implant instrument drill bit and the unit axial information of the instrument drill bit in the navigation coordinate system is as follows:

[0021] ,

[0022] ,

[0023] ,

[0024] in, This describes the conversion relationship between the instrument locator and the navigation system. The coordinates of the end of the drill bit of the implantation instrument. This provides the axial information of the drill bit for the implantation instrument. The coordinates of the end point of the implantation instrument drill bit under the navigation system. This provides the axial information of the drill bit for the implantation instrument. For the rotational transformation from instrument locator to navigation system, This refers to the translation transformation from the instrument locator to the navigation system.

[0025] Optionally, the formula for calculating the coordinates and unit axial information of the implant under the navigation system is as follows:

[0026] ,

[0027] ,

[0028] in, This represents the length of the implant tip relative to the end of the instrument drill bit. The coordinates of the implant in the navigation system. This refers to the axial information of the implant under the navigation system.

[0029] Optionally, the transformation matrix of the implant model in the navigation coordinate system is obtained, including:

[0030] Based on the axial difference, the cross product is used to calculate the axis of rotation. Dot product to calculate the included angle And calculate the rotation matrix. ;

[0031] Calculate the translation vector based on the difference in coordinate points. Thus, the transformation matrix of the implant model in the navigation coordinate system is obtained. .

[0032] Optional, ,

[0033] ,

[0034] ,

[0035] ,

[0036] ,

[0037] in, This refers to the axial information of the implant. The coordinates of the implant are shown.

[0038] Secondly, this disclosure also provides a method for generating a restoration, comprising:

[0039] Obtain digital scan data of the edentulous dentition containing the restoration, as well as the height, shape, and position of the gingiva;

[0040] Based on the pose information of the virtual implant model obtained by any of the acquisition methods described in the first aspect in the oral scan data, a virtual implant containing the central channel of the implant is obtained, thereby obtaining integrated data of the missing dentition including the virtual implant, gingival morphology and gingival position.

[0041] The data of the missing dentition of the restoration and the integrated data of the missing dentition of the virtual implant, gingival morphology and position are matched with the remaining teeth to obtain integrated data including implant position, gingival position and temporary crown;

[0042] Extract data from the integrated data, including data on virtual implants and crowns;

[0043] The opening channel of the temporary abutment is designed based on the pose information of the virtual implant, so that the axis of the opening channel is consistent with the axis of the virtual implant, thereby obtaining a temporary abutment that is compatible with the virtual implant.

[0044] The repair body is generated based on the temporary abutment.

[0045] Optionally, the generation of the prosthesis based on the temporary abutment includes:

[0046] The transgingival height of the temporary abutment is obtained based on the distance between the crown and the implant neck platform.

[0047] The temporary crown is bonded to the temporary abutment based on the height of the perforation, thus creating the restoration.

[0048] Thirdly, embodiments of this disclosure also provide an electronic device, the electronic device comprising:

[0049] At least one processor; and,

[0050] A memory communicatively connected to the at least one processor; wherein,

[0051] The memory stores instructions executable by the at least one processor, which, when executed, enable the at least one processor to perform the method for acquiring oral implant data according to any of the first aspects.

[0052] Fourthly, embodiments of this disclosure also provide a computer-readable storage medium storing computer instructions for causing a computer to perform the method for acquiring oral implant data as described in any of the first aspects.

[0053] This invention provides a method for acquiring oral implant data and a method for generating prostheses. The method for acquiring oral implant data immediately after implantation obtains the accurate position of the implant relative to other crowns, resulting in high surgical efficiency and accuracy. Compared to the impression-taking method, it obtains accurate digital information about the implant, offering greater precision and ease of operation. Compared to oral scanning methods, it eliminates the need for extraoral scanning equipment, reducing costs and simplifying the surgical process. Furthermore, it eliminates the need for additional scanning rods, providing a better patient experience. This embodiment utilizes fused data, including implant position information, gingival height, shape, and position in the edentulous area, to design and fabricate the implant-supported crown prosthesis, thereby achieving low cost, fast process, and high precision. Attached Figure Description

[0054] The above and other objects, features and advantages of this disclosure will become more apparent from the accompanying drawings, in which like reference numerals generally denote like parts.

[0055] Figure 1 A flowchart for existing dental implant restorations;

[0056] Figure 2 A flowchart of a method for acquiring oral implant data provided in embodiments of this disclosure;

[0057] Figure 3 This is a schematic block diagram of an electronic device provided in an embodiment of the present disclosure. Detailed Implementation

[0058] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0059] It should be understood that the following specific examples illustrate the implementation of this disclosure, and those skilled in the art can easily understand other advantages and effects of this disclosure from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. This disclosure can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this disclosure. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0060] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this disclosure, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.

[0061] It should also be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this disclosure. The illustrations only show the components related to this disclosure and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0062] Furthermore, specific details are provided in the following description to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the described aspects can be practiced without these specific details.

[0063] like Figure 2 As shown in the figure, this embodiment discloses a method for acquiring oral implant data, including:

[0064] Acquire oral CBCT data, intraoral scan data, and dynamic implant navigation information;

[0065] The oral CBCT data and the intraoral scan data are fused, and a transformation matrix between the oral CBCT data and the intraoral scan data is obtained based on the fusion result;

[0066] Based on the dynamic implant navigation information, the relative pose of the virtual implant model in the oral CBCT data is obtained;

[0067] Based on the transformation matrix and relative pose, the pose information of the virtual implant model in the oral scan data is calculated.

[0068] The dynamic implantation navigation system includes a reference plate and an instrument locator. Before surgery, the dynamic implantation navigation system needs to be calibrated. This involves identifying optical markers on the reference plate and navigation instruments through the navigation system, and calculating and establishing the spatial transformation relationships between the reference plate and the navigation system coordinate system, as well as between the instrument locator and the navigation system coordinate system.

[0069] The specific plan is as follows:

[0070] 1. During the pre-implantation design process, oral CBCT data and intraoral scan data (common types include STL and PLY, hereinafter referred to as STL) are registered and fused to obtain the transformation matrix between oral CBCT data and intraoral scan data. Methods for registration and fusion between oral CBCT data and intraoral scan data can include PCA-based principal component registration and fusion, or segmentation-based registration and fusion.

[0071] 2. During the implantation process, a dynamic implant navigation system is used to obtain the relative position of the implant in the oral CT data. In the actual surgical procedure, the dynamic implant navigation system tracks and positions the "reference plate (or reference locator) fixed to the ipsilateral jaw of the patient's implantation area" and the "instrument locator fixedly connected to the implantation area." The specific calculation steps are as follows:

[0072] 2.1 The dynamic planting navigation system positions the reference board and obtains the conversion relationship between the reference board (ref represents the reference board in this embodiment) and the dynamic planting navigation system (nav represents the dynamic planting navigation system). Since the relative pose transformation relationship between the reference plate and the oral CBCT has been pre-registered, acquired, and stored, it is denoted as... Therefore, the relative positional relationship between oral CBCT data and the dynamic implant navigation system can be directly obtained using the reference plate. :

[0073] ,

[0074] 2.2. In the final state before implantation (simply referred to as the last drill), record the relative pose of the instrument locator under the dynamic implantation navigation system, and obtain the conversion relationship between the instrument locator (in this embodiment, "piece" represents the instrument locator) and the dynamic implantation navigation system. Due to the coordinate point of the drill bit end of the implantation instrument Unit axial information of drill bit It has been pre-calibrated and stored with the instrument locator, and can calculate the end coordinates of the implantation instrument drill bit under the navigation system. and drill bit unit axial information The relevant calculation formulas are as follows:

[0075] ,

[0076] ,

[0077] ,

[0078] 2.3. Based on the end coordinates of the implantation instrument drill bit under the navigation system and drill bit unit axial information Due to the length of the implant tip relative to the end of the instrument drill bit It is known that the coordinates of the implant can be calculated under a dynamic implant navigation system. and unit axial information .

[0079] ,

[0080] ,

[0081] 2.4. Since the 3D triangular facet data model of the implant (hereinafter referred to as the virtual implant model, denoted as model) is known, the corresponding coordinate points of the implant can be extracted. and unit axial information And compare it with the coordinates of the implant under the dynamic planting navigation system obtained in step 2.3. and unit axial information Registration was performed to obtain the transformation matrix of the implant model under the dynamic implant navigation system. The calculation process and formula are as follows: 1) Calculate the axis of rotation by cross product based on the axial difference. Dot product to calculate the included angle And calculate the rotation matrix. 2) Calculate the translation vector based on the difference in coordinate points. Finally, the transformation matrix is ​​obtained. .

[0082] ,

[0083] ,

[0084] ,

[0085] ,

[0086] ,

[0087] 2.5. Combining the oral CBCT data obtained in the above steps with the relative positional relationship between the navigation system and the data. Transformation matrix of implant model under navigation system This allows us to determine the relative positional relationship between the virtual implant model and the oral CBCT data. .

[0088] .

[0089] 3. Combine the transformation matrix between the oral CBCT data and intraoral scan data obtained in the above steps. Relative positional relationship between implant model and oral CBCT data This allows us to determine the relative positional relationship between the implant model and the oral scan data. .

[0090] ,

[0091] 4. Based on the relative positional relationship between the implant model and the oral scan data This allows for the generation of corresponding restorations, enabling a navigation-based restoration generation solution that requires no additional manual intervention.

[0092] In addition, this embodiment also discloses a method for generating a prosthesis, including:

[0093] Obtain digital scan data of the edentulous dentition containing the restoration, as well as the height, shape, and position of the gingiva;

[0094] Based on the pose information of the virtual implant model obtained by the acquisition method disclosed in this embodiment in the oral scan data, a virtual implant containing the central channel of the implant is obtained, thereby obtaining integrated data of the missing dentition including the virtual implant, gingival morphology and gingival position.

[0095] The data of the missing dentition of the restoration and the integrated data of the missing dentition of the virtual implant, gingival morphology and position are matched with the remaining teeth to obtain integrated data including implant position, gingival position and temporary crown;

[0096] Extract data from the integrated data, including data on virtual implants and crowns;

[0097] The opening channel of the temporary abutment is designed based on the pose information of the virtual implant, so that the axis of the opening channel is consistent with the axis of the virtual implant, thereby obtaining a temporary abutment that is compatible with the virtual implant.

[0098] The repair body is generated based on the temporary abutment.

[0099] Optionally, the generation of the prosthesis based on the temporary abutment includes:

[0100] The transgingival height of the temporary abutment is obtained based on the distance between the crown and the implant neck platform.

[0101] The temporary crown is bonded to the temporary abutment based on the height of the perforation, thus creating the restoration.

[0102] The specific import includes the data of the missing dentition 1 of the preoperatively designed temporary restoration and the integrated data 2 of the missing dentition 2 of the postoperatively acquired data of the virtual implant with central channel and gingival morphology and position;

[0103] Data 1 and Data 2 are matched by the cusp or socket morphology (common points) of the remaining teeth;

[0104] This yields integrated data, including implant location, gingival location, and temporary crown, as data 3. Subsequent operations are performed on data 3.

[0105] The virtual implant and crown data are extracted separately, and the opening channel of the temporary abutment (cylindrical in shape) is designed, aligning its axis with that of the virtual implant. The distance from the gingival side of the crown to the implant neck plateau is measured, for example, this distance can be 4.032 mm. Based on the measured distance, the transgingival height of the temporary abutment is then adjusted. A resin temporary crown, with the channel for the temporary abutment digitally cut, is then bonded to the temporary abutment. In subsequent treatment, it can be secured to the implant in the mouth using a central screw. This method allows for the design of the temporary restoration before surgery, and the temporary restoration can be quickly fabricated post-operatively using the implant pose information generated in this embodiment. This eliminates the need for conventional methods of fabricating temporary restorations using a screw-in restoration scanning rod, saving time and the cost of consumables such as scanning rods and optical scanning heads.

[0106] The electronic device disclosed in this embodiment includes a memory and a processor. The memory is used to store non-transitory computer-readable instructions. Specifically, the memory may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM) and / or cache memory. The non-volatile memory may, for example, include read-only memory (ROM), hard disk, flash memory, etc.

[0107] The processor may be a central processing unit (CPU) or other processing unit with data processing and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions. In one embodiment of this disclosure, the processor is used to execute computer-readable instructions stored in the memory, causing the electronic device to perform all or part of the steps of the oral implant data acquisition methods described in the foregoing embodiments of this disclosure.

[0108] Those skilled in the art will understand that, in order to solve the technical problem of how to achieve a good user experience, this embodiment may also include well-known structures such as communication buses and interfaces, and these well-known structures should also be included within the protection scope of this disclosure.

[0109] like Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. It illustrates a structural schematic diagram suitable for implementing the electronic device in the embodiment of the present disclosure. Figure 3 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0110] like Figure 3 As shown, an electronic device may include a processing unit (such as a central processing unit, graphics processing unit, etc.) that can perform various appropriate actions and processes based on a program stored in read-only memory (ROM) or a program loaded from a storage device into random access memory (RAM). The RAM also stores various programs and data required for the operation of the electronic device. The processing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0111] Typically, the following devices can be connected to the I / O interface: input devices, such as sensors or visual information acquisition devices; output devices, such as displays; storage devices, such as magnetic tapes or hard drives; and communication devices. Communication devices allow electronic devices to exchange data wirelessly or via wired communication with other devices, such as edge computing devices. Although Figure 3 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have alternatively.

[0112] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device, or installed from a ROM. When the computer program is executed by a processing device, all or part of the steps of the method for acquiring oral implant data according to embodiments of this disclosure are performed.

[0113] For a detailed description of this embodiment, please refer to the corresponding descriptions in the foregoing embodiments, which will not be repeated here.

[0114] A computer-readable storage medium according to embodiments of the present disclosure stores non-transitory computer-readable instructions thereon. When the non-transitory computer-readable instructions are executed by a processor, all or part of the steps of the methods for acquiring oral implant data according to the foregoing embodiments of the present disclosure are performed.

[0115] The aforementioned computer-readable storage media include, but are not limited to: optical storage media (e.g., CD-ROM and DVD), magneto-optical storage media (e.g., MO), magnetic storage media (e.g., magnetic tape or portable hard drive), media with built-in rewritable non-volatile memory (e.g., memory card), and media with built-in ROM (e.g., ROM cartridge).

[0116] For a detailed description of this embodiment, please refer to the corresponding descriptions in the foregoing embodiments, which will not be repeated here.

[0117] The basic principles of this disclosure have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of each embodiment of this disclosure. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the scope of this disclosure to the necessity of employing the aforementioned specific details for implementation.

[0118] In this disclosure, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The block diagrams of devices, apparatuses, devices, and systems involved in this disclosure are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as "comprising," "including," "having," etc., are open-ended terms meaning "including but not limited to," and are used interchangeably with them. The terms "or" and "and" as used herein refer to the terms "and / or," and are used interchangeably with them unless the context clearly indicates otherwise. The term "such as" as used herein refers to the phrase "such as but not limited to," and is used interchangeably with it.

[0119] Additionally, as used herein, the "or" used in a list of items beginning with "at least one" indicates a separate list, such that a list of, for example, "at least one of A, B, or C" means A or B or C, or AB or AC or BC, or ABC (i.e., A and B and C). Furthermore, the word "exemplary" does not imply that the described example is preferred or better than other examples.

[0120] It should also be noted that in the systems and methods of this disclosure, the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalent solutions to this disclosure.

[0121] Various changes, substitutions, and modifications can be made to the technology described herein without departing from the teachings defined by the appended claims. Furthermore, the scope of the claims of this disclosure is not limited to the specific aspects of the processes, machines, manufactures, events, means, methods, and actions described above. Currently existing or later-developed processes, machines, manufactures, events, means, methods, or actions that perform substantially the same function or achieve substantially the same result as the corresponding aspects described herein can be utilized. Therefore, the appended claims include such processes, machines, manufactures, events, means, methods, or actions within their scope.

[0122] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of this disclosure. Therefore, this disclosure is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features disclosed herein.

[0123] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this disclosure to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations therein.

Claims

1. A method for acquiring dental implant data, characterized in that, include: Acquire oral CBCT data, intraoral scan data, and dynamic implant navigation information; The oral CBCT data and the intraoral scan data are fused, and a transformation matrix between the oral CBCT data and the intraoral scan data is obtained based on the fusion result; Based on the dynamic implant navigation information, the relative pose of the virtual implant model in the oral CBCT data is obtained; Based on the transformation matrix and relative pose, the pose information of the virtual implant model in the oral scan data is calculated; The step of obtaining the relative pose of the virtual implant model in the oral CBCT data based on the dynamic implant navigation information includes: The dynamic implant navigation system obtains the conversion relationship between the reference plate fixed to the patient's jaw and the navigation system. The dynamic implant navigation system includes a reference plate and an instrument locator. Based on the pre-calibrated conversion relationship between the reference plate and the oral CBCT data, and the conversion relationship between the reference plate and the navigation system, the relative positional relationship between the oral CBCT data and the navigation system is obtained; Record the relative pose of the instrument locator in the navigation coordinate system in the final state before implantation is completed; Obtain the conversion relationship between the instrument locator and the navigation system; Based on the pre-calibrated geometric parameters of the implantation instrument drill bit and the instrument locator, as well as the relative pose of the instrument locator in the navigation coordinate system, the end coordinates of the implantation instrument drill bit and the unit axial information of the instrument drill bit in the navigation coordinate system are calculated. The coordinates and unit axial information of the implant under the navigation system are calculated based on the length, end coordinates and unit axial information of the implant tip relative to the end of the instrument drill bit. The coordinates and axial information of the implant under the navigation system are registered with the corresponding information of the pre-stored digital implant 3D model to obtain the transformation matrix of the virtual implant model under the navigation coordinate system. By combining the relative positional relationship between the oral CBCT data and the navigation system, as well as the transformation matrix of the virtual implant model in the navigation coordinate system, the relative pose of the virtual implant model in the oral CBCT data is determined.

2. The method for acquiring oral implant data according to claim 1, characterized in that, The formula for calculating the end coordinates of the implant instrument drill bit and the unit axial information of the instrument drill bit in the navigation coordinate system is as follows: ， ， ， in, This describes the conversion relationship between the instrument locator and the navigation system. The coordinates of the end point of the implantation instrument drill bit. This provides the axial information of the drill bit for the implantation instrument. The coordinates of the end point of the implantation instrument drill bit under the navigation system. This refers to the unit axial information under the drill bit navigation system of the implantation instrument. For the rotational transformation from instrument locator to navigation system, This refers to the translation transformation from the instrument locator to the navigation system.

3. The method for acquiring oral implant data according to claim 2, characterized in that, The formula for calculating the coordinates and unit axial information of the implant under the navigation system is as follows: ， ， in, This represents the length of the implant tip relative to the end of the instrument drill bit. The coordinates of the implant in the navigation system. This refers to the axial information of the implant under the navigation system.

4. The method for acquiring oral implant data according to claim 3, characterized in that, Obtain the transformation matrix of the virtual implant model in the navigation coordinate system, including: Based on the axial difference, the cross product is used to calculate the axis of rotation. Dot product to calculate the included angle And calculate the rotation matrix. ; Calculate the translation vector based on the difference in coordinate points. Thus, the transformation matrix of the implant model in the navigation coordinate system is obtained. .

5. The method for acquiring oral implant data according to claim 4, characterized in that, ， ， ， ， ， in, This refers to the axial information of the implant. The coordinates of the implant are shown.

6. A method for generating a prosthesis, characterized in that, include: Obtain digital scan data of the edentulous dentition containing the restoration, as well as the height, shape, and position of the gingiva; Based on the pose information of the virtual implant model obtained by the acquisition method according to any one of claims 1 to 5 in the oral scan data, a virtual implant containing the central channel of the implant is obtained, thereby obtaining integrated data of the missing dentition including the virtual implant, gingival morphology and gingival position. The data of the missing dentition of the restoration and the integrated data of the missing dentition of the virtual implant, gingival morphology and position are matched with the remaining teeth to obtain integrated data including implant position, gingival position and temporary crown; Extract data from the integrated data, including data on virtual implants and crowns; The opening channel of the temporary abutment is designed based on the pose information of the virtual implant, so that the axis of the opening channel is consistent with the axis of the virtual implant, thereby obtaining a temporary abutment that is compatible with the virtual implant. The repair body is generated based on the temporary abutment.

7. The method for generating a restoration according to claim 6, characterized in that, The method of generating a prosthesis based on a temporary abutment includes: The transgingival height of the temporary abutment is obtained based on the distance between the crown and the implant neck platform. The temporary crown is bonded to the temporary abutment based on the height of the perforation, thus creating the restoration.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method for acquiring oral implant data according to any one of claims 1-5.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a computer to perform the method for acquiring oral implant data as described in any one of claims 1-5.

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